Installing the

OSU LAIR Generic Task Toolset

Fafner Release 1.0

Include your name, email address, organization, and the date you got the software. This will allow us to let you know about updates, bugs, etc. (If you also include the type of machine and lisp you will be running it in, as well as possible applications you are interested in, it'd be greatly appreciated.) What you need to get the Fafner release of the toolset up & running:

• To get the files with FTP click here
• PCL (CLOS)
  This release runs under the Dec. 7 version of pcl. The 1.1 release may run under the March 17 and Feb 3 releases also, if there is enough demand & it turns out to be possible.

  The source files for this pcl are in the directory ./pcl. To bring this pcl up on your system, edit the file defsys.lsp in the pcl source directory (following the directions given in that file). Make sure that the values you give for directory names end with a separator character (ex. to specify a Unix directory, you must say /foo/bar/, not /foo/bar). Then, start up a new lisp (of whatever variety you want to run the toolset in), load defsys.lsp into it, and run the function (pcl::compile-pcl). (Note: the lisp world in which you compile pcl *cannot* have a pcl already loaded into it.) When you're done, move the compiled files (if necessary) to the directory you listed in defsys.lsp as their location. Then, exit the lisp you compiled pcl in (you can't use it to run pcl in either).

• The toolset
  The source files for the toolset are in the directory ./toolset (toolset/toolset, from the top...)
  
  • Edit the file load-toolset.lsp to reflect your preferred directory,filename extensions, etc. (again, make sure directory names end with a separator character) Directions can be found in the load-toolset file.
    
  • (optional) Compile the toolset.
    Start a lisp, and load load-toolset.lsp into it. This will load the compiled pcl files, as well as defining a few functions, setting up packages, etc. You may see some warnings about "redefining defsystem...(and a lot of other functions)". They appear because the load-toolset file loads in a modified version of pcl's defsys.lsp for its own use. You can ignore them. Load the toolset source files by running the function (load-toolset). (In a perfect world, you wouldn't need this step, but skipping it causes problems in some lisps.) Run the function (compile-toolset). This should compile all the toolset files. Move the compiled toolset files into the directory you indicated as their location in load-toolset.lsp.
    
  • Load the toolset.
    Start a lisp and load load-toolset.lsp into it. (As above, it will load the pcl compiled files, and some other stuff. Load the toolset source or compiled files by running the function (load-toolset). This should load any compiled toolset files that you have. If it looks for the compiled version of a file in the directory indicated in the load-toolset.lsp file (to see what that is, look at the variable toolset::*gt-directory* -- the car is the source directory, and the cdr is the compiled-files directory), and it fails to find the uncompiled version, it will look for the source file in the source directory indicated by toolset::*gt-directory*.

There are several example cases in the two directories: toolset/testcases/ra and toolset/testcases/csrl. The file ./testcases/run.testcases gives more information about them.

The documentation is in the toolset/doc directory, including a README file giving directions for formatting and printing the documentation.

One additional note to the manual: if you are loading test systems (or any system where load speed is more critical than run-time speed, but which you have not compiled into fasload forms), you can turn off system compilation of dragons' internal controllers. Simply do (setf toolset::*compile-controllers* nil).